Exact dynamic map building for a mobile robot using geometrical primitives produced by a 2D range finder

A new real-time algorithm for off-road terrain estimation using laser data

“…Rewriting P P (3, 1) yields (A9) Thus, after getting T r (3, 1) with a similar deduction procedure, we can compute T rG (3, 1) using T rG (3, 1) = T p (3, 1) + T r (3,1).…”

A Novel Feature Extraction Algorithm for Outdoor Mobile Robot Localization

“…In [Taylor & Probert, 1996], a recursive line fitting system is used to extract line segments under polar coordinates and an ellipse fitting method is also implemented for data from a laser sensor. In [Vandorpe et al, 1996], line segments are detected using a regression least-squares parameter estimation method whereas the center and radius of a circle feature are estimated based on the average value of the measurements of the circle from a 2D range scanner. Later, a two-layer Kalman filter was used to calculate the parameters of a line by an on-line method in [Roumeliotis & Bekey, 2000].…”

Mobile robot SLAM for line-based environment representation

“…The extraction of lines from range scans is a widely studied problem and several solutions are available (see e.g., [9], [10] and reference therein). The approach adopted in this paper to obtain the measurements z(k), as well as the corresponding covariance matrix R(k), is described in the following.…”

“…In this context, fitting lines are instrumental to the solution of the point-to-point correspondence problem. A method for building a line-based map, accounting for both robot pose and measurement uncertainty, can be found in [9]. An alternative mapping technique has been proposed in [10].…”

“…It is based on an improved line extraction scheme, which explicitly takes into account each point uncertainty in the computation of the line parameters. However, both [9] and [10] do not explicitly address the SLAM problem. Recently, a segment-based SLAM algorithm exploiting 3D laser scans has been proposed in [11].…”